Bond graph is an effective unified approach to treat the eng ineering system w ith mult iple
energy domains. A novel bond graph mode l is presented for hydrau lically driven parallel robo.t The
model for themot ion platform is estab lished based on New ton-Eu ler method. A ccording to the servo
va lve and the cy linder. s flow equat ions and the dynam ic equ ilibrium equation, the hydraulic actuator
model is also estab lished. The abovemodels. integration under causa l relation rule forms the who lesystem
model of the parallel robo.t The simulat ion shows that this model reflects the real behav io r o f
the parallel robo.t It can be used in the dynamical ana lysis and contro l system design o f paralle l robots.